teach build system & rtapi about RTAI 5

RTAI 5 (which has not been released yet) introduces changes (possibly
unintentional) to the API.  This commit updates rtapi to use the
current API.

Signed-off-by: Sebastian Kuzminsky <seb@highlab.com>

scripts/rtapi.conf.in

@@ -28,4 +28,10 @@ if [ "@RTAI@" = "3" ] ; then \
     MODPATH_rtai_fifos=@MODPATH_rtai_fifos@
     MODPATH_rtai_sem=@MODPATH_rtai_sem@
     MODPATH_rtai_math=@MODPATH_rtai_math@
+elif [ "@RTAI@" = "5" ] ; then \
+    MODULES="rtai_hal rtai_sched rtai_math"
+    RTAI=@RTAI@
+    MODPATH_rtai_hal=@MODPATH_rtai_hal@
+    MODPATH_rtai_sched=@MODPATH_rtai_sched@
+    MODPATH_rtai_math=@MODPATH_rtai_math@
 fi

src/configure.in

@@ -287,11 +287,12 @@ case $RTS in
 */rtai-config)
     RTNAME=rtai-3.0
     RTPREFIX=rtai
-    RTAI=3
+    RTAI_VERSION=$($RTS --version)
+    RTAI=$(echo $RTAI_VERSION | cut -f 1 -d .)
     RTDIR=`$RTS --prefix`
     RTDIR=$(cd $RTDIR ; pwd -P )
     RTFLAGS=`$RTS --module-cflags`
-    RTFLAGS="$RTFLAGS -DRTAI=3"
+    RTFLAGS="$RTFLAGS -DRTAI=$RTAI"
     KERNELDIR=`$RTS --linux-dir`
     RTARCH=`$RTS --arch`
     ULAPI_CFLAGS=`$RTS --lxrt-cflags`
@@ -1077,7 +1078,7 @@ AC_SUBST(BUILD_DOCS_HTML)
 
 if test $RTS '!=' uspace
 then
-for m in adeos rtai_hal rtai_ksched rtai_fifos rtai_sem rtai_math \
+for m in adeos rtai_hal rtai_ksched rtai_sched rtai_fifos rtai_sem rtai_math \
 ; do
     AC_MSG_CHECKING([for $m])
     TMP=$(find $MODULE_DIR -name $m$MODEXT 2>/dev/null)
@@ -1091,6 +1092,7 @@ done
 AC_SUBST(MODPATH_adeos)
 AC_SUBST(MODPATH_rtai_hal)
 AC_SUBST(MODPATH_rtai_ksched)
+AC_SUBST(MODPATH_rtai_sched)
 AC_SUBST(MODPATH_rtai_fifos)
 AC_SUBST(MODPATH_rtai_sem)
 AC_SUBST(MODPATH_rtai_math)

src/rtapi/rtai_rtapi.c

@@ -89,6 +89,10 @@
 #define RTAI_NR_TRAPS HAL_NR_FAULTS
 #endif
 
+#if RTAI <= 3
+#define rt_free_timers rt_free_timer
+#endif
+
 /* resource data unique to kernel space */
 static RT_TASK *ostask_array[RTAPI_MAX_TASKS + 1];
 static void *shmem_addr_array[RTAPI_MAX_SHMEMS + 1];
@@ -257,7 +261,7 @@ void cleanup_module(void)
     }
     if (rtapi_data->timer_running != 0) {
 	stop_rt_timer();
-	rt_free_timer();
+	rt_free_timers();
 	rtapi_data->timer_period = 0;
 	timer_counts = 0;
 	rtapi_data->timer_running = 0;
@@ -402,7 +406,7 @@ static int module_delete(int module_id)
     if (rtapi_data->rt_module_count == 0) {
 	if (rtapi_data->timer_running != 0) {
 	    stop_rt_timer();
-	    rt_free_timer();
+	    rt_free_timers();
 	    rtapi_data->timer_period = 0;
 	    timer_counts = 0;
 	    max_delay = DEFAULT_MAX_DELAY;
@@ -759,7 +763,7 @@ static int task_delete(int task_id)
     if (rtapi_data->task_count == 0) {
 	if (rtapi_data->timer_running != 0) {
 	    stop_rt_timer();
-	    rt_free_timer();
+	    rt_free_timers();
 	    rtapi_data->timer_period = 0;
 	    max_delay = DEFAULT_MAX_DELAY;
 	    rtapi_data->timer_running = 0;